class Client(object):
def __init__(self,
numberOfCols=16384,
cellsPerColumn=8,
activationThreshold=60,
minThreshold=60,
verbosity=0):
self.tm = TM(
columnDimensions=(numberOfCols, ),
cellsPerColumn=cellsPerColumn,
activationThreshold=activationThreshold,
minThreshold=minThreshold,
maxNewSynapseCount=164,
initialPermanence=0.21,
connectedPermanence=0.3,
permanenceIncrement=0.1,
permanenceDecrement=0.0,
predictedSegmentDecrement=0.0,
)
if verbosity > 0:
print "TM Params:"
print "columnDimensions: {}".format(self.tm.getColumnDimensions())
print "cellsPerColumn: {}".format(self.tm.getCellsPerColumn())
print "activationThreshold: {}".format(
self.tm.getActivationThreshold())
print "minThreshold: {}".format(self.tm.getMinThreshold())
print "maxNewSynapseCount {}".format(
self.tm.getMaxNewSynapseCount())
print "initialPermanence {}".format(self.tm.getInitialPermanence())
print "connectedPermanence {}".format(
self.tm.getConnectedPermanence())
print "permanenceIncrement {}".format(
self.tm.getPermanenceIncrement())
print "permanenceDecrement {}".format(
self.tm.getPermanenceDecrement())
print "predictedSegmentDecrement {}".format(
self.tm.getPredictedSegmentDecrement())
def feed(self, sdr, learn=True):
tm = self.tm
narr = numpy.array(sdr, dtype="uint32")
tm.compute(narr, learn=learn)
# This returns the indices of the predictive minicolumns.
predictiveCells = tm.getPredictiveCells()
return numpy.unique(
numpy.array(predictiveCells) / tm.getCellsPerColumn())
def reset(self):
self.tm.reset()
class Client(object):
def __init__(self,
numberOfCols=16384,
cellsPerColumn=8,
activationThreshold=60,
minThreshold=60,
verbosity=0
):
self.tm = TM(
columnDimensions=(numberOfCols,),
cellsPerColumn=cellsPerColumn,
activationThreshold=activationThreshold,
minThreshold=minThreshold,
maxNewSynapseCount=164,
initialPermanence=0.21,
connectedPermanence=0.3,
permanenceIncrement=0.1,
permanenceDecrement=0.0,
predictedSegmentDecrement=0.0,
)
if verbosity > 0:
print "TM Params:"
print "columnDimensions: {}".format(self.tm.getColumnDimensions())
print "cellsPerColumn: {}".format(self.tm.getCellsPerColumn())
print "activationThreshold: {}".format(self.tm.getActivationThreshold())
print "minThreshold: {}".format(self.tm.getMinThreshold())
print "maxNewSynapseCount {}".format(self.tm.getMaxNewSynapseCount())
print "initialPermanence {}".format(self.tm.getInitialPermanence())
print "connectedPermanence {}".format(self.tm.getConnectedPermanence())
print "permanenceIncrement {}".format(self.tm.getPermanenceIncrement())
print "permanenceDecrement {}".format(self.tm.getPermanenceDecrement())
print "predictedSegmentDecrement {}".format(self.tm.getPredictedSegmentDecrement())
def feed(self, sdr, learn=True):
tm = self.tm
narr = numpy.array(sdr, dtype="uint32")
tm.compute(narr, learn=learn)
# This returns the indices of the predictive minicolumns.
predictiveCells = tm.getPredictiveCells()
return numpy.unique(numpy.array(predictiveCells) / tm.getCellsPerColumn())
def reset(self):
self.tm.reset()
class Entity():
def __init__(self, columnCount, InputEncoderParams, toL4ConnectorParamsI,
toL4ConnectorParamsII, toL5ConnectorParams,
toD1ConnectorParams, toD2ConnectorParams, L4Params, L5Params,
k, D1Params, D2Params):
self.columnCount = columnCount
self.toL4ConnectorParamsI = toL4ConnectorParamsI
self.toL4ConnectorParamsII = toL4ConnectorParamsII
self.toL5ConnectorParams = toL5ConnectorParams
self.toD1ConnectorParams = toD1ConnectorParams
self.toD2ConnectorParams = toD2ConnectorParams
self.L4Params = L4Params
self.L5Params = L5Params
self.k = k
self.D1Params = D1Params
self.D2Params = D2Params
self.learning = False
#encoder
from nupic.encoders import MultiEncoder
self.InputEncoder = MultiEncoder()
self.InputEncoder.addMultipleEncoders(InputEncoderParams)
print "Encoder Online"
#spatialPoolers
from nupic.algorithms.spatial_pooler import SpatialPooler
self.toL4ConnectorI = SpatialPooler(
inputDimensions=(toL4ConnectorParamsI["inputDimensions"], ),
columnDimensions=(columnCount, ),
potentialPct=toL4ConnectorParamsI["potentialPct"],
globalInhibition=toL4ConnectorParamsI["globalInhibition"],
localAreaDensity=toL4ConnectorParamsI["localAreaDensity"],
numActiveColumnsPerInhArea=toL4ConnectorParamsI[
"numActiveColumnsPerInhArea"],
synPermInactiveDec=toL4ConnectorParamsI["synPermInactiveDec"],
synPermActiveInc=toL4ConnectorParamsI["synPermActiveInc"],
synPermConnected=toL4ConnectorParamsI["synPermConnected"],
boostStrength=toL4ConnectorParamsI["boostStrength"],
seed=toL4ConnectorParamsI["seed"],
wrapAround=toL4ConnectorParamsI["wrapAround"]) #this part sucks
self.toL4ConnectorII = SpatialPooler(
inputDimensions=(columnCount * 3, ),
columnDimensions=(columnCount, ),
potentialPct=toL4ConnectorParamsII["potentialPct"],
globalInhibition=toL4ConnectorParamsII["globalInhibition"],
localAreaDensity=toL4ConnectorParamsII["localAreaDensity"],
numActiveColumnsPerInhArea=toL4ConnectorParamsII[
"numActiveColumnsPerInhArea"],
synPermInactiveDec=toL4ConnectorParamsII["synPermInactiveDec"],
synPermActiveInc=toL4ConnectorParamsII["synPermActiveInc"],
synPermConnected=toL4ConnectorParamsII["synPermConnected"],
boostStrength=toL4ConnectorParamsII["boostStrength"],
seed=toL4ConnectorParamsII["seed"],
wrapAround=toL4ConnectorParamsII["wrapAround"])
print "toL4Connector Online"
self.toL5Connector = SpatialPooler(
inputDimensions=(columnCount, ),
columnDimensions=(columnCount, ),
potentialPct=toL5ConnectorParams["potentialPct"],
globalInhibition=toL5ConnectorParams["globalInhibition"],
localAreaDensity=toL5ConnectorParams["localAreaDensity"],
numActiveColumnsPerInhArea=toL5ConnectorParams[
"numActiveColumnsPerInhArea"],
synPermInactiveDec=toL5ConnectorParams["synPermInactiveDec"],
synPermActiveInc=toL5ConnectorParams["synPermActiveInc"],
synPermConnected=toL5ConnectorParams["synPermConnected"],
boostStrength=toL5ConnectorParams["boostStrength"],
seed=toL5ConnectorParams["seed"],
wrapAround=toL5ConnectorParams["wrapAround"])
print "toL5Connector Online"
self.toD1Connector = SpatialPooler(
inputDimensions=(columnCount, ),
columnDimensions=(columnCount, ),
potentialPct=toD1ConnectorParams["potentialPct"],
globalInhibition=toD1ConnectorParams["globalInhibition"],
localAreaDensity=toD1ConnectorParams["localAreaDensity"],
numActiveColumnsPerInhArea=toD1ConnectorParams[
"numActiveColumnsPerInhArea"],
synPermInactiveDec=toD1ConnectorParams["synPermInactiveDec"],
synPermActiveInc=toD1ConnectorParams["synPermActiveInc"],
synPermConnected=toD1ConnectorParams["synPermConnected"],
boostStrength=toD1ConnectorParams["boostStrength"],
seed=toD1ConnectorParams["seed"],
wrapAround=toD1ConnectorParams["wrapAround"])
print "toD1Connector Online"
self.toD2Connector = SpatialPooler(
inputDimensions=(columnCount, ),
columnDimensions=(columnCount, ),
potentialPct=toD2ConnectorParams["potentialPct"],
globalInhibition=toD2ConnectorParams["globalInhibition"],
localAreaDensity=toD2ConnectorParams["localAreaDensity"],
numActiveColumnsPerInhArea=toD2ConnectorParams[
"numActiveColumnsPerInhArea"],
synPermInactiveDec=toD2ConnectorParams["synPermInactiveDec"],
synPermActiveInc=toD2ConnectorParams["synPermActiveInc"],
synPermConnected=toD2ConnectorParams["synPermConnected"],
boostStrength=toD2ConnectorParams["boostStrength"],
seed=toD2ConnectorParams["seed"],
wrapAround=toD2ConnectorParams["wrapAround"])
print "toD2Connector Online"
#HTM Layers
from nupic.algorithms.temporal_memory import TemporalMemory
self.L4ActiveColumns = numpy.zeros(self.columnCount, dtype=int)
self.L4 = TemporalMemory(
columnDimensions=(columnCount, ),
seed=42,
)
print "L4 Online"
self.L5ActiveColumns = numpy.zeros(self.columnCount, dtype=int)
self.L5 = TemporalMemory(
columnDimensions=(columnCount, ),
seed=42,
)
print "L5 Online"
self.D1ActiveColumns = numpy.zeros(self.columnCount, dtype=int)
self.D1 = TemporalMemory(
columnDimensions=(columnCount, ),
seed=42,
initialPermanence=0.21,
connectedPermanence=0.5,
)
print "D1 Online"
self.D2ActiveColumns = numpy.zeros(self.columnCount, dtype=int)
self.D2 = TemporalMemory(
columnDimensions=(columnCount, ),
seed=42,
initialPermanence=0.21,
connectedPermanence=0.5,
)
print "D2 Online"
def encode_input(sine1, sine2, angularSpeed1, angularSpeed2,
efferenceCopy):
return self.InputEncoder.encode({
"sine1": sine1,
"sine2": sine2,
"angularSpeed1": angularSpeed1,
"angularSpeed2": angularSpeed2,
"efferenceCopy": efferenceCopy
})
def reset(self):
self.action = 0
self.L4.reset()
self.L5.reset()
self.D1.reset()
self.D2.reset()
def mimic(self, observation, action):
#mimicking only requires remembering the given obs-act pattern,thus the striatum is neglected in this func
self.learning = True
self.action = action
encodedInput = self.encode_input(observation[0], observation[2],
observation[4], observation[5],
str(action))
self.toL4ConnectorI.compute(encodedInput, self.learning,
self.L4ActiveColumns)
self.L4.compute(self.L4ActiveColumns, learn=self.learning)
L4activeColumnIndices = numpy.nonzero(self.L4ActiveColumns)[0]
L5Temp = numpy.zeros(self.columnCount, dtype=int)
for column in L4activeColumnIndices:
L5Temp[column] = 1
self.toL5Connector.compute(L5Temp, self.learning, self.L5ActiveColumns)
self.L5.compute(self.L5ActiveColumns, learn=self.learning)
L5activeColumnIndices = numpy.nonzero(self.L5ActiveColumns)[0]
#no action generation is needed in this func
def learn(self, env, observation, expectedReaction):
#We humans learn by trial and error,so does an AI agent.For neural networks,they have BP,but HTM does not
#have a clear way to reinforcement learn(Where to feed in rewards?).Here I try to do something new.
self.learning = False #...trial
encodedInput = self.encode_input(observation[0], observation[2],
observation[4], observation[5],
str(self.action))
self.toL4ConnectorI.compute(encodedInput, self.learning,
self.L4ActiveColumns)
L4Temp = numpy.zeros(
self.columnCount * 3, dtype=int
) #ready to receive D1's disinhibition and D2's inhibition
L4activeColumnIndices = numpy.nonzero(self.L4ActiveColumns)[0]
for column in L4activeColumnIndices:
L4Temp[int(column) * 3] = 1
D1ActiveColumnsIndices = numpy.nonzero(self.D1ActiveColumns)[0]
for column in D1ActiveColumnsIndices:
L4Temp[int(column) * 3 + 1] = 1
D2ActiveColumnsIndices = numpy.nonzero(self.D2ActiveColumns)[0]
for i in range(self.columnCount - 1):
L4Temp[i * 3 + 2] = 1
for column in D2ActiveColumnsIndices: #achieve inhibition in this way
L4Temp[i * 3 + 2] = 0
self.toL4ConnectorII.compute(L4Temp, self.learning,
self.L4ActiveColumns)
self.L4.compute(self.L4ActiveColumns, learn=self.learning)
L4activeColumnIndices = numpy.nonzero(self.L4ActiveColumns)[0]
L5Temp = numpy.zeros(self.columnCount, dtype=int)
for column in L4activeColumnIndices:
L5Temp[column] = 1
self.toL5Connector.compute(L5Temp, self.learning, self.L5ActiveColumns)
self.L5.compute(self.L5ActiveColumns, learn=self.learning)
L5activeColumnIndices = numpy.nonzero(self.L5ActiveColumns)[0]
#Action Generation
p = 84 #there are 84 bits in the SDR representing the action fed in the agent,this is the "Efference Copy"
count0 = 0
count1 = 0
count2 = 0
for activeIndice in L5activeColumnIndices:
convertedIndice = (activeIndice + 1) * 1126 / columnCount
if convertedIndice <= 1126 - p / 4 and convertedIndice > 1126 - p / 2:
count2 = count2 + 1
if convertedIndice <= 1126 - p / 2 and convertedIndice > 1126 - 3 * p / 4:
count1 = count1 + 1
if convertedIndice <= 1126 - 3 * p / 4 and convertedIndice > 1126 - p:
count0 = count0 + 1
if count2 == max(count0, count1, count2):
self.action = 2
if count1 == max(count0, count1, count2):
self.action = 1
if count0 == max(count0, count1, count2):
self.action = 0
#...and error
if self.action == expectedReaction:
reward = 0.1
else:
reward = -0.1
self.D1.setConnectedPermanence(self.D1.getConnectedPermanence() *
(self.k**(-reward))) #reward
self.D2.setConnectedPermanence(self.D2.getConnectedPermanence() *
(self.k**reward)) #punishment
#Learn to correct mistakes(remember what's right and whats' wrong)
self.learning = True
DTemp = numpy.zeros(self.columnCount, dtype=int)
for column in L5activeColumnIndices:
DTemp[column] = 1
self.toD1Connector.compute(DTemp, self.learning, self.D1ActiveColumns)
self.toD2Connector.compute(DTemp, self.learning, self.D2ActiveColumns)
self.D1.compute(self.D1ActiveColumns, learn=self.learning)
self.D2.compute(self.D2ActiveColumns, learn=self.learning)
return reward
def react(self, observation):
self.learning = False
encodedInput = self.encode_input(observation[0], observation[2],
observation[4], observation[5],
str(self.action))
self.toL4ConnectorI.compute(encodedInput, self.learning,
self.L4ActiveColumns)
L4Temp = numpy.zeros(self.columnCount * 3, dtype=int)
L4activeColumnIndices = numpy.nonzero(self.L4ActiveColumns)[0]
for column in L4activeColumnIndices:
L4Temp[int(column) * 3] = 1
D1ActiveColumnsIndices = numpy.nonzero(self.D1ActiveColumns)[0]
for column in D1ActiveColumnsIndices:
L4Temp[int(column) * 3 + 1] = 1
D2ActiveColumnsIndices = numpy.nonzero(self.D2ActiveColumns)[0]
for i in range(self.columnCount - 1):
L4Temp[i * 3 + 2] = 1
for column in D2ActiveColumnsIndices:
L4Temp[i * 3 + 2] = 0
self.toL4ConnectorII.compute(L4Temp, self.learning,
self.L4ActiveColumns)
self.L4.compute(self.L4ActiveColumns, learn=self.learning)
L4activeColumnIndices = numpy.nonzero(self.L4ActiveColumns)[0]
L5Temp = numpy.zeros(self.columnCount, dtype=int)
for column in L4activeColumnIndices:
L5Temp[column] = 1
self.toL5Connector.compute(L5Temp, self.learning, self.L5ActiveColumns)
self.L5.compute(self.L5ActiveColumns, learn=self.learning)
L5activeColumnIndices = numpy.nonzero(self.L5ActiveColumns)[0]
p = 84
count0 = 0
count1 = 0
count2 = 0
for activeIndice in L5activeColumnIndices:
convertedIndice = (activeIndice + 1) * 1126 / columnCount
if convertedIndice <= 1126 - p / 4 and convertedIndice > 1126 - p / 2:
count2 = count2 + 1
if convertedIndice <= 1126 - p / 2 and convertedIndice > 1126 - 3 * p / 4:
count1 = count1 + 1
if convertedIndice <= 1126 - 3 * p / 4 and convertedIndice > 1126 - p:
count0 = count0 + 1
if count2 == max(count0, count1, count2):
self.action = 2
if count1 == max(count0, count1, count2):
self.action = 1
if count0 == max(count0, count1, count2):
self.action = 0
return self.action
